Development of a teleoperation system and an operation assist user interface for a humanoid robot

  • Authors:

  • Shin-Ichiro Kaneko;Yasuo Nasu;Shungo Usui;Mitsuhiro Yamano;Kazuhisa Mitobe

  • Affiliations:

  • Yamagata University, Jonan, Yonezawa, Japan;Yamagata University, Jonan, Yonezawa, Japan;Yamagata University, Jonan, Yonezawa, Japan;Yamagata University, Jonan, Yonezawa, Japan;Yamagata University, Jonan, Yonezawa, Japan

  • Venue:
  • ICS'05 Proceedings of the 9th WSEAS International Conference on Systems
  • Year:
  • 2005

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Abstract

This paper describes a humanoid robot teleoperation system through the Internet/LAN. The developed system is a server-client system based on Common Object Request Broker Architecture (CORBA). The main target is that a human operator can remotely control the humanoid robot arms by on-line as if own arms naturally. In order to achieve the operation, we have developed a user-friendly Virtual Reality (VR) user interface that is composed of ultrasonic 3D mouse system and a Head Mounted Display (HMD) with a gyro sensor. The preliminary experiments show that the system is available as a teleoperation tool for the humanoid robot.